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Conference Paper: Intelligent robotic manipulation with hybrid position/force control in an uncalibrated workspace

TitleIntelligent robotic manipulation with hybrid position/force control in an uncalibrated workspace
Authors
Issue Date1998
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1998, v. 2, p. 1671-1676 How to Cite?
AbstractThe planning and control problems of a robot manipulator for a class of constrained motion are discussed. The task under consideration is to control a robot such that a tool grasped by the end-effector of the robot follows a path on an unknown surface with the aid of a single camera vision system. To accomplish the task, a planning and control strategy based on multisensor fusion is proposed. Three different sensors, joint encoders, a wrist force-torque sensor and a vision system, with a single camera fixed above the workspace, are employed.
Persistent Identifierhttp://hdl.handle.net/10722/212688
ISSN

 

DC FieldValueLanguage
dc.contributor.authorXiao, Di-
dc.contributor.authorGhosh, Bijoy K.-
dc.contributor.authorXi, Ning-
dc.contributor.authorTarn, Tzyh Jong-
dc.date.accessioned2015-07-28T04:04:42Z-
dc.date.available2015-07-28T04:04:42Z-
dc.date.issued1998-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1998, v. 2, p. 1671-1676-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212688-
dc.description.abstractThe planning and control problems of a robot manipulator for a class of constrained motion are discussed. The task under consideration is to control a robot such that a tool grasped by the end-effector of the robot follows a path on an unknown surface with the aid of a single camera vision system. To accomplish the task, a planning and control strategy based on multisensor fusion is proposed. Three different sensors, joint encoders, a wrist force-torque sensor and a vision system, with a single camera fixed above the workspace, are employed.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleIntelligent robotic manipulation with hybrid position/force control in an uncalibrated workspace-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0031626010-
dc.identifier.volume2-
dc.identifier.spage1671-
dc.identifier.epage1676-

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